A two-stage insertion system including a gripper to grip a module, a compliance element to provide movement in the XY axis, a first stage insertion control to insert the module into a socket, to a first level, and a second stage insertion control to complete the insertion of the module into the socket, when the first stage insertion control indicates that the module is aligned to the socket, the second level insertion control exerting enough force to complete the insertion of the module into the socket.

A workpiece transferring tool including a base mounted on a distal end of a wrist of a robot, a workpiece holder releasably holding a workpiece, and a movable connection unit connecting the workpiece holder to the base so that the workpiece holder is displaceable in an escape direction of an external force acting on the workpiece. This can prevent an excessively large external force from acting on the robot due to the workpiece and can prevent frequent accidental stop of the robot.

A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

The present invention discloses an automatic high-shear low-pressure force-controlled grinding device for a complicated curved surface and a machining method thereof, which belong to the field of complicated curved surface grinding technologies of difficult-to-machine materials. The device comprises a base, columns, an industrial robot, an electrical spindle, a force-controlled floating tool holder, a workpiece chuck, a grinder plate, a six-dimensional force sensor, a rotary table, a triaxial precision displacement table, a safeguard hood, a safety door, and a pedestal. The grinder plate comprises a grinder plate substrate, a press plate, a lining plate, and an abrasive layer. Each module is effectively communicated, and a control system collects and processes signals as well as transmits commands to achieve automatic force-controlled grinding of the complicated curved surface. The abrasive layer of the grinder plate generates the shear thickening effect; so, the material can be removed in a high-shear low-pressure grinding manner.

A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

A collision-detection device for a gripper system of a handling device, with at least two gripping jaws arranged on a flange plate, detects collisions between the gripper system and an object. The device includes a safety device configured to lock the collision-detection device to the gripper system and/or dampen the collision-detection device with the gripper system. The safety device is configured to receive from the flange a change in force and/or a change in torque generated by contact between the gripping jaws and the object. The device further includes a sensor configured to detect a change in distance which exceeds a predetermined permissible change in distance between the flange plate and a reference, the change in distance resulting from the at least one of the change in force and the change in torque.

A compliance unit 10 includes a support plate 11, an attaching plate 12, and a fixing disk 22 that has a cylindrical portion 24 fixed to the support plate 11, and an annular, arc surface 26 is formed in a front surface of an annular portion 25 that is provided at a tip of the cylindrical portion 24 so as to protrude radially outside the cylindrical portion. A movable plate 31 is disposed between the annular portion 25 and the support plate 11, and the movable plate 31 is fastened to the attaching plate 12. The attaching plate 12 is provided with an abutment surface 37 opposing the arc surface 26, and the attaching plate 12 is movable to a position where the abutment surface 37 abuts on the arc surface 26 and a position where the abutment surface 37 is separate from the arc surface 26 via a gap 38 between the abutment surface and the arc surface 26.

An assembly apparatus assembles a first component and a second component. The assembly apparatus includes a gripping section, a correcting section, and a driving section. The gripping section grips the first component. The correcting section corrects positional shift of the first component relative to the second component. The driving section drives the correcting section. The correcting section includes a first mechanism connected to the gripping section and a second mechanism connected to the driving section. The first mechanism has a first tapered portion on a surface opposite to the gripping section. The second mechanism has a second tapered portion on a surface opposite to the driving section. The second tapered portion has a substantially identical shape to the first tapered portion. The first tapered portion is placed on the second tapered portion.